Multithreaded physics is good to hear, dunno how it works internally however. Have parts distributed between threads, or instead something more complex?

MarvinMan:
Yeah, I had noticed that. A certain amount of flex is useful, and possibly unavoidable, but in my opinion joints could do with being strengthened compared to the current version.

Perhaps the custom wheel physics is to deal with how wheels start to skip over the surface at high speed or tend to dig in when steering at speed. I assume the wheel physics model is built from polygons rather than being treated as a perfect cylinder, so the custom physics could be to smooth over that so bots don't effectively have square wheels.

I'm also glad to hear that threaded physics is finally happening. Hopefully that will let more bot to bot interactions happen.